Single-degree-of-freedom moving multi-ring symmetrical coupling mechanism

Abstract

The invention relates to a single-degree-of-freedom movement polycyclic symmetrical coupling mechanism. According to the geometric structure characteristics of all edges and vertexes of a spatial polyhedron ABCDA', two regular triangle components and three regular quadrangle components are connected through nine rod sets to obtain the coupling mechanism. Three revolute pair axes on each regular triangle component are located in a triangle plane, and the included angles formed between adjacent axes are 60 degrees. Four revolute pair axes of each regular quadrangle component are located in a plane where the component is located, the adjacent revolute pair axes are perpendicular, and the axes of opposite sides are parallel. Each rod set is obtained by connecting two auxiliary rods in series, the two auxiliary rods are same connecting rod pieces of the same structure, every two auxiliary rods comprise two connecting motion pairs which are revolute pairs, and the axes of the two revolute pairs are parallel. The mechanism has the beneficial effects of being large in rigidity, high in bearing capacity, stable in motion, simple in structure and convenient to assemble and maintain, and provides patent information and technical supports for domestic enterprises and research institutions.

Description

technical field [0001] The invention relates to a symmetrical coupling mechanism, relates to the technical field of mechanism application, and in particular relates to a robot actuator with single-degree-of-freedom movement. Background technique [0002] With the continuous development of mechanisms from simple to complex, from plane to space, and from single loop to multiple loops, mechanism innovation has always been the key and research hotspot of machine equipment innovation. In some high-intensity and heavy-duty occasions, it is very common to replace human labor with industrial mechanical arms. These occasions often require the actuator of the mechanical arm to have high strength, simple structure, low cost, convenient maintenance, and the characteristics of smooth movement and easy control of the end actuator. The existing parallel mechanism has the advantages of strong bearing capacity, high rigidity, and low inertia, but the working space is limited; the series mec...

AI Technical Summary

Problems solved by technology

The existing parallel mechanism has the advantages of strong bearing capacity, high rigidity, and low inertia, but the working space is limited; the series mechanism has a large working space, simple and smart structure, but low strength, and is not suitable for heavy-duty occasions; the hybrid mechanism combines series and Parallel mechanisms perform effective compounding while breaking through the shortcomings of their respective structures. However, the connection between the frame of the hybrid mechanism and the end effector usually exists in the form of adding a series manipulator connected to the upper and lower platforms on the parallel mechanism, which makes While the whole mechanism obtains a large working space, its own volume is not flexible and light enough, which brings inconvenience to the assembly, transportation and execution of the mechanism

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